string name
moveit_msgs/JointConstraint[] joint_constraints
  string joint_name
  float64 position
  float64 tolerance_above
  float64 tolerance_below
  float64 weight
moveit_msgs/PositionConstraint[] position_constraints
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  string link_name
  geometry_msgs/Vector3 target_point_offset
    float64 x
    float64 y
    float64 z
  moveit_msgs/BoundingVolume constraint_region
    shape_msgs/SolidPrimitive[] primitives
      uint8 BOX=1
      uint8 SPHERE=2
      uint8 CYLINDER=3
      uint8 CONE=4
      uint8 BOX_X=0
      uint8 BOX_Y=1
      uint8 BOX_Z=2
      uint8 SPHERE_RADIUS=0
      uint8 CYLINDER_HEIGHT=0
      uint8 CYLINDER_RADIUS=1
      uint8 CONE_HEIGHT=0
      uint8 CONE_RADIUS=1
      uint8 type
      float64[] dimensions
    geometry_msgs/Pose[] primitive_poses
      geometry_msgs/Point position
        float64 x
        float64 y
        float64 z
      geometry_msgs/Quaternion orientation
        float64 x
        float64 y
        float64 z
        float64 w
    shape_msgs/Mesh[] meshes
      shape_msgs/MeshTriangle[] triangles
        uint32[3] vertex_indices
      geometry_msgs/Point[] vertices
        float64 x
        float64 y
        float64 z
    geometry_msgs/Pose[] mesh_poses
      geometry_msgs/Point position
        float64 x
        float64 y
        float64 z
      geometry_msgs/Quaternion orientation
        float64 x
        float64 y
        float64 z
        float64 w
  float64 weight
moveit_msgs/OrientationConstraint[] orientation_constraints
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  geometry_msgs/Quaternion orientation
    float64 x
    float64 y
    float64 z
    float64 w
  string link_name
  float64 absolute_x_axis_tolerance
  float64 absolute_y_axis_tolerance
  float64 absolute_z_axis_tolerance
  float64 weight
moveit_msgs/VisibilityConstraint[] visibility_constraints
  uint8 SENSOR_Z=0
  uint8 SENSOR_Y=1
  uint8 SENSOR_X=2
  float64 target_radius
  geometry_msgs/PoseStamped target_pose
    std_msgs/Header header
      uint32 seq
      time stamp
      string frame_id
    geometry_msgs/Pose pose
      geometry_msgs/Point position
        float64 x
        float64 y
        float64 z
      geometry_msgs/Quaternion orientation
        float64 x
        float64 y
        float64 z
        float64 w
  int32 cone_sides
  geometry_msgs/PoseStamped sensor_pose
    std_msgs/Header header
      uint32 seq
      time stamp
      string frame_id
    geometry_msgs/Pose pose
      geometry_msgs/Point position
        float64 x
        float64 y
        float64 z
      geometry_msgs/Quaternion orientation
        float64 x
        float64 y
        float64 z
        float64 w
  float64 max_view_angle
  float64 max_range_angle
  uint8 sensor_view_direction
  float64 weight

